Installation instructions Absolute Shaft Encoders Type RA 58-S/M, RA 59-S Item No. 2 540 120, Edition: 3050799hu Hengstler GmbH Postfach 11 51 D-78550 Aldingen Page 1 of 4 Electrical data parallel Introduction Linearity 360 increments (9 bit)1) 512 increments (9 bit) 720 increments (10 bit)2) 1024 increments (10 bit) 4096 increments (12 bit) 8192 increments (13 bit) 16384 increments (14 bit) 4096 increments/16 turns (16 bit)4) 4096 increments/256 turns (20 bit)4) 4096 increments/4096 turns (24 bit)4) ± ½ LSB (± 1 LSB for 13 and 14 bit) Type of code Gray, Gray Excess, Binary Sequence of code values switchable by Direction input Supply voltage (SELV) 5 VDC±10 %, 10…30 VDC3) Resolution These installation instructions are provided for the connection and starting procedure of your shaft encoder. You will get further information from our Shaft Encoders Catalogue or on request. This sign marks paragraphs particularly to be observed to assure proper use and to avoid risks. Safety and Operating Instructions • The absolute shaft encoders of the type RA 58/59 model series are quality products manufactured in accordance with established electrical engineering standards. The units have been delivered from the factory in perfect conformance to safety regulations. To maintain this condition and to ensure trouble-free operation, please observe the technical specifications of this document. • Installation and mounting may only be performed by an electrotechnical expert! • The units may only be operated within the limits specified by the technical data. • Maximum operating voltages must not be exceeded! The units are designed complying with DIN EN 61010-part 1, protection class III. To prevent dangerous structure-borne currents, the equipment has to be run on safety extra-low voltage (SELV) and must be in an area of equipotential bonding. Use an external fuse for protection (see Electrical data). • Fields of application: industrial processes and controls. Overvoltage at the connecting terminals must be limited to overvoltage class-II values. • Please avoid shocks to the housing – especially to the encoder shaft – and axial or radial overload to the encoder shaft. • Maximum accuracy and durability of our shaft encoders is only granted with suitable couplings. • The high-quality EMC-specifications are only valid together with standardtype cables and plugs. When using screened cables, the screen must broadly be connected with ground on both ends. Also the voltage supply lines should be screened completely. If this is not possible, the corresponding filter measures are to be taken. • Installation environment and wiring have a significant impact on the encoder's EMC: Thus the installer must secure EMC of the whole facility (device). • In electrostatically threatened areas please take care for neat ESD-protection of plug and connecting cable during installation work. 4) 3) Fixing with M4 screws Fixing with M3 or M4 screws only with InterBus there must be no standing water present at the shaft input or bearings T 0.8 A (9 ... 14 bit), T 1.2 A (16 ... 24 bit) Code switching frequency max. 100 kHz Inputs5) Direction, Latch, Tristate Output load 30 mA, short circuit proof Open collector, NPN (for UB = 5VDC max. 5mA, 24 V; for UB = 10...30 VDC: max. 5 mA, 32 V) Max. cable length 1) 3) 5) 100 m with offset 76 (range of values 76 ... 435) 2) with offset 152 (range of values 152 ... 871) 4) Not with RA59 Reverse battery protection Operating delay time typically 10 ms for push-pull control. When controlling with PNP-Open Collector, an external pull-down resistor (1 kΩ) is needed. Connection diagrams for parallel interface Parallel interface with PVC-cable (single-turn, 13-14 Bit) Shaft diameter 2) 600 mA (9 ... 14 bit), 900 mA (16 ... 24 bit) Recommended external fuse 1) Colour 13 Bit grey/pink N.C. 14 Bit S0 (LSB) brown/yellow S0 (LSB) S1 brown/grey S1 S2 red/blue S2 S3 violet S3 S4 white/brown S4 S5 white/green S5 S6 white/yellow S6 S7 white/grey S7 S8 white/pink S8 S9 white/blue S9 S10 white/red S10 S11 white/black S11 S12 brown/green S12 (MSB) S13 (MSB) yellow1) Tristate S0…S12 Tristate S0…S13 pink2) Latch (binary only) Latch (binary only) green3) Direction Direction black 0V 0V red 5/10…30 VDC 5/10…30 VDC brown Alarm Alarm Tristate: + UB or unattached 0V 2) Latch: + UB or unattached 0V 3) Direction: + U or unattached B 0V N.C. LSB MSB S0, S1, … = = = = = = Outputs active Outputs at high impedance (Tristate mode) Encoder data continuously changing at output Encoder data stored and constant at output Ascending code values when turning cw Descending code values when turning cw = Not Connected = Least Significant Bit = Most Significant Bit = Data bits for resolution per turn Subject to technical modifications and improvements serving the progress of our devices. Item No. 2 540 120, 3050799hu RA 58: 6 mm (synchro flange), 10 mm (clamping fl.) RA59: 9.52 / 10 mm (square flange) Max. shaft load ∅ 6 mm - axial 60 N (13 lbs), radial 110 N (24 lbs) ∅ 9.52/10 - axial 107 N (24 lbs), radial 160 N (35 lbs) Speed 10000 rpm (short term), 6000 rpm (continuous duty) Torque ≤ 0.5 Ncm (IP64), ≤ 1 Ncm (IP 67) Moment of inertia Synchro flange approx. 14 gcm2 Clamping flange, square flange approx. 20 gcm2 Protection class housing/bearing IP 65/644) (IP 67 for singleturn on request) General design acc. to DIN EN 61010 part 1, protection class III, contamination level 2, overvoltage class II Operating temperature -25 ... +85 °C (SSI, Parallel) –10 … +60°C (INTERBUS) Storage temperature –25 … +85°C Vibration performance (IEC 68-2-6) 100 m/s2 (10 … 500 Hz) Shock resistance (IEC 68-2-27) 1000 m/s2 (6 ms) Connection cable axial/radial, connector axial/radial, connector 2-fold radial3), bus terminal box3) Housing RA58: aluminium; RA59: stainless steel Flange RA58: S=Synchro flange1), K=Clamping flange2) RA59: Q=square flange 63.5 x 63.5 Weight RA58: approx. 300 g (single-turn), 350 g (multi-turn) RA59: approx. 620 g (single-turn) Bearing life 1 x 1010 revolutions (typ.) at 35% of full rated shaft load 1 x 109 revolutions (typ.) at 75% of full rated shaft load 1 x 108 revolutions (typ.) at 100% of full rated shaft load Max. current consumption Alarm output Mechanical data 1) Tel. 07424 – 890 Fax 07424 – 89370 Installation instructions Absolute Shaft Encoders Type RA 58-S/M, RA 59 Page 2 of 4 Connection diagrams for parallel interface Parallel interface with PVC-cable (single-turn, 9-12 bit) Parallel interface with connector, 17 poles (CONIN), 9-12 bit Colour 9 bit/360 increments 10 bit/720 increments 12 bit Pin 9 bit/360 increments 10 bit/720 increments 12 bit brown/grey N.C. N.C. S0 (LSB) 1 S0 (LSB) S0 (LSB) S0 (LSB) red/blue N.C. N.C. S1 2 S1 S1 S1 violet N.C. S0 (LSB) S2 3 S2 S2 S2 white/brown S0 (LSB) S1 S3 4 S3 S3 S3 white/green S1 S2 S4 5 S4 S4 S4 white/yellow S2 S3 S5 6 S5 S5 S5 white/grey S3 S4 S6 7 S6 S6 S6 white/pink S4 S5 S7 8 S7 S7 S7 white/blue S5 S6 S8 9 S8 (MSB) S8 S8 white/red S6 S7 S9 10 N.C. S9 (MSB) S9 white/black S7 S8 S10 11 N.C. N.C. S10 brown/green S8 (MSB) S9 (MSB) S11 (MSB) 121) Tristate S0…S8 Tristate S0…S9 S11 (MSB) yellow1) Tristate D0…D8 Tristate D0…D9 Tristate D0…D11 132) Latch (binary only) Latch (binary only) Latch (binary only) pink2) Latch (binary only) Latch (binary only) Latch (binary only) 143) Direction Direction Direction green3) Direction Direction Direction 15 0V 0V 0V black 0V 0V 0V 16 5/10…30 VDC 5/10…30 VDC 5/10…30 VDC 17 Alarm Alarm Alarm 5/10…30 VDC 5/10…30 VDC 5/10…30 VDC brown Alarm Alarm Alarm Parallel interface with TPE-cable (multi-turn) Cable Colour brown green yellow grey pink violet grey/pink red/blue white/green brown/green white/yellow yellow/brown white/grey grey/brown white/pink pink/brown white/blue brown/blue white/red brown/red white/black brown/black grey/green yellow/grey pink/green yellow/pink green/blue yellow/blue red white blue black * N.C. with resolution 16 bit 37-pole Sub-D-connector Pin Assignment 2 S0 21 S1 3 S2 22 S3 4 S4 23 S5 5 S6 24 S7 6 S8 25 S9 7 S10 26 S11 8 M0 27 M1 9 M2 28 M3 14 M4* 33 M5* 15 M6* 34 M7* 16 M8** 35 M9** 17 M10** 36 M11** 18 Alarm 10 Direction3) 30 Latch2) 12 Tristate4) 13 10…30 VDC 31 10…30 VDC 1 0V 20 0V ** N.C. with resolution 16 bit or 20 bit Parallel interface with connector, 17 poles (CONIN), 13-14 bit Pin 13 bit 14 bit 1 S12 (MSB) S13 (MSB) 2 S11 S12 3 S10 S11 4 S9 S10 5 S8 S9 6 S7 S8 7 S6 S7 8 S5 S6 9 S4 S5 10 S3 S4 11 S2 S3 12 S1 S2 13 S0 (LSB) S1 143) Direction S0 (LSB) 15 0V 0V 16 5/10…30 VDC 5/10…30 VDC 172) Latch/Alarm* Latch/Alarm* * Latch with Binary code, Alarm with Gray code 1) Tristate: + UB or unattached 0V 2) Latch: + UB or unattached 0V 3) Direction: + U or unattached B 0V 4) Tristate: + UB 0 V or unattached N.C. LSB MSB S0, S1, ... M0, M1 ... = = = = = = = = = = = = = Outputs active Outputs at high impedance (Tristate mode) Encoder data continuously changing at output Encoder data stored and constant at output Ascending code values when turning cw Descending code values when turning cw Outputs at high impedance (Tristate mode) Outputs active Not Connected Least Significant Bit Most Significant Bit Data bits for resolution per turn Data bits for number of turns (multi-turn only) Subject to technical modifications and improvements serving the progress of our devices. Item No. 2 540 120, 3050799hu red Installation instructions Absolute Shaft Encoders Type RA 58-S/M, RA 59 Page 3 of 4 Data formats SSI Synchronous-serial transfer (SSI) for absolute shaft encoders Data format for single-turn encoder1) Resolution Encoder data are sent out synchronously with the clock rate fed in by the SSI partner. The number of clocks is defined by encoder type (single-turn resp. multi-turn) and configured special bits. On multiple transaction (the stored value is read out several times successively), a fixed clock rate per transaction must be kept (for single-turn 13 resp. 14 clocks, for multi-turn 25 resp. 26 clocks). … T9 S8 … S0 S0 0 0 A 10 bit2) S9 … S1 S0 0 0 A 0 12 bit2) S11 … S3 S2 S1 S0 A 0 13 bit S12 … S4 S3 S2 S1 S0 0 14 bit S13 … S5 S4 S3 S2 S1 S0 Resolution • With the first falling edge of the clock pulse, encoder data and special bits are loaded into the shift registers of the encoder interface. • When data transfer is finished, the data output remains at logically "0" for about 20 µs. If, within these 20 µs, another clock brush arrives at the encoder interface, data that have just been transferred will be put out once again. This multiple transaction of identical data provides transmissionerror recognition. T1 9 bit2) T10 T11 T12 T13 T14 0 Data format for multi-turn encoder1) • When idle – the last clock brush dates back more than 30 µs –, data output is at logically "1". • With every rising edge, data bits are put out serially, starting with MSB. Data bits Data bits T1 T2 … T12 T13 … 24 bit2) M11 M10… M0 S11 … T21 T22 T23 T24 T25 T26 S3 S2 S1 S0 A 25 bit M11 M10… M0 S12 … S4 S3 S2 S1 S0 0 26 bit M11 M10… M0 S13 … S5 S4 S3 S2 S1 S0 0 S0, S1, ...: Data bits for resolution per turn M0, M1, ...: Data bits for number of turns (multi-turn only) A: alarm bit 2) Options (parity bit, alarm bit and parity bit, zero bit) on request and only with resolution 9, 10, 12 and 24 bit possible 1) Alarm bit: set to "1" with overheating, undervoltage, disk breakage, and LED defect. Parity bit: Even Parity (The parity bit complements the data bits (option) with an even number of 1-bits). • On expiration of the 20 µs, the data output returns to idle state (logically "1"). Current encoder data can then be read out once again. Connection diagram SSI-Interface Electrical data serial (SSI) Resolution 360 increments (9 bit)1) Cable Connector brown (0.5 mm2) 1 0 V (supply voltage) pink 2 Data yellow 3 Clock 4 N.C. 720 increments (10 bit)2) 1024 increments (10 bit) blue 5 Direction1) 4096 increments (12 bit) red 6 N.C. 8192 increments (13 bit) violet 7 N.C. 16384 increments (14 bit) white (0.5 mm2) 8 5/10 … 30 VDC 9 N.C. 8192 increments/4096 turns (25 bit) grey 10 Data 16384 increments/4096 turns (26 bit) green 11 Clock ±½ LSB (± 1 LSB for 13, 14 and 25 bit) black 12 0 V-Signal ground2) 4096 increments/4096 turns (24 bit) Linearity Signal Type of code Gray, Gray Excess, Binary Sequence of code values Supply voltage (SELV) switchable by Direction input 5 VDC±10 %, 10 … 30 VDC3) Current consumption max. 0.3 A (5 VDC), max. 0.2 A (10 ... 30 VDC) 1) Direction: + UB or unattached = Ascending code values when turning cw 0V = Descending code values when turning cw 2) connected to 0 V within the encoder. Please use this output to set Direction to logically ”0”, if necessary. Baud rate 70 KB ... 1.5 MB Inputs4) Direction Dependence of Baud rate on cable length Output RS 485 Alarm output Alarm bit Parity bit optional on request Max. cable length 400 m5) Cable length1) < 150 m < 100 m < 200 m < 400 m 1) 2) 3) 4) 5) with offset 76 (range of values 76 ... 435) with offset 152 (range of values 152 ... 871) Reverse battery protection Operating delay time typically 10 ms for push-pull control. When controlling with PNP-Open Collector, an external pull-down resistor (1 kΩ) is needed. See table "Dependence of baud rate on cable length" 1) Baud rate < 400 kBaud < 300 kBaud < 200 kBaud < 100 kBaud for twisted pair data and clock lines N.C. LSB MSB S0, S1, ... M0, M1 ... = = = = = Not Connected Least Significant Bit Most Significant Bit Data bits for resolution per turn Data bits for number of turns (multi-turn only) Subject to technical modifications and improvements serving the progress of our devices. Item No. 2 540 120, 3050799hu Recommended external fuse T 0.4 A (5 VDC); T 0.25 A (10 ... 30 VDC) Installation instructions Absolute Shaft Encoders Type RA 58-S/M, RA 59 Electrical data Page 4 of 4 INTERBUS/K2 (installation remote bus) • • Maximum current: 2 A via UB and 0 V! Recommended external fuse for the complete bus supply voltage: T2A • Only if external power supply (not via bus) desired: Facing the opened bus terminal box, insert external encoder supply voltage through the left-hand screwed conduit entry and connect to UB and 0 V. • Put bus terminal box on encoder and tighten screws. 4096 increments / 4096 turns (24 bit)1) ± ½ LSB Binary Sequence of code values ascending code values when turning cw Supply voltage (SELV) 10 … 30 V DC with reverse battery protection Current consumption max. 0.2 A Recommended external fuse T 0.25 A Baud rate 500 KB Output load RS 485 Max. cable length 50 m 1) Not with RA 59 Data output 5 V differential signals (RS 485) ENCOM profile K2, 32 bit process data binary right-aligned, readable only, without control/status bit Data transmission format Sµpi-address 0 1 2 3 (as per Phoenix) Byte-No. 3 2 1 0 ID-Code 36H (= 54 decimal) Connection diagram Interbus interface (ENCOM standard assignment) Pin 1 2 3 4 5 6 7 8 9 10 11 12 1) 2) Cable with plug (12 poles) D02 D02 DI 2 DI 2 D01 D01 DI 1 DI 1 RBST 0 V (supply voltage) GND signal output1) 10 … 30 VDC connector 2-fold (internal T-manifold) IN (9 poles, pins) OUT (9 poles, socket) D01 D02 D01 D02 DI 1 DI 2 DI 1 DI 2 GND signal output1) GND signal output1) PE2) PE2) 10 … 30 VDC 10 … 30 VDC 0 V (supply voltage) 0 V (supply voltage) N.C. RBST Signal output; because of the potential separation, not identical with 0 V (supply voltage); used in the T-manifold in order to set the RBST input to logically "0". Functional earthing; connected to the encoder housing Ordering data (see identification plate) Design S Single-turn M Multi-turn Type RA 58 Standard RA 59 Stainl. steel – / Resolution 0360 360 inkr. (S) 0009 9 bit (S) 0720 720 inkr. (S) 0010 10 bit (S) 0012 12 bit (S) 0013 13 bit (S) 0014 14 bit (S) 0412 16 bit (M) 0812 20 bit (M) 1212 24 bit (M) 1213 25 bit (M) 1214 26 bit (M) Supply voltage A 5 VDC E 10 … 30 VDC Protection class 4 IP 64 7 IP 67 Output K Push-pull short-circ..proof T RS 485 Interface P parallel (output K) S SSI (output T) I INTERBUS (output T) Cable length 1. Letter: Length code for metres (A=0, B=1, C=2 etc.) 2. Digit: Decimetres Code B Binary G Gray – – · Shaft diameter 1 6 mm (S) 2 10 mm (K) A 10 x 25 (Q) B 9.52 x 25 (Q) Mounting K Clamping flange (10 mm shaft) S Synchro flange (6 mm shaft) Q Square flange 63.5 x 63.5 (9.52/10 mm shaft) Connection A Cable, axial B Cable, radial C Connector 12 poles axial cw1) D Connector 12 poles radial cw G Connector 12 poles axial ccw2) H Connector 12 poles radial ccw I Connector 2-fold, 9 poles, radial, cw (internal T-manifold for INTERBUS) U Connector 17 poles axial ccw V Connector 17 poles radial ccw W Connector 17 poles axial cw Y Connector 17 poles radial cw Z Busterminal (3-fold PG), radial (internal T-manifold for INTERBUS) 3) Plug F 37 p. Sub-D (with parallel) C CONIN 12 poles, cw 1) cw= clockwise 2) ccw= counterclockwise 3) Subject to technical modifications and improvements serving the progress of our devices. Special types are additionally marked by an ordering-code -S. In this case customer specifications are to be applied. If you don’t know these, please call us for the specifications, indicating the encoder’s item number. Item No. 2 540 120, 3050799hu • • 1024 increments (10 bit) Linearity Type of code Starting procedure Maximum current: 4.5 A via pin 7 and 8! Recommended external fuse for the complete bus supply voltage: T 4.5 A With connection type bus terminal: Release screws and pull bus terminal box off the encoder. Insert incoming bus cable through the middle screwed conduit entry and connect to the input terminals (index 1), according to marking. If no further devices follow in the same bus line: In the bus terminal box, plug jumper ST2. If further devices follow in the same bus line: Facing the opened bus terminal box, insert outgoing bus cable through the right-hand screwed conduit entry and connect to the output terminals (index 2), according to marking. Interbus (ENCOM profile K2) Resolution 4096 increments (12 bit) Concerning function and transmission procedure, the absolute shaft encoder RA 58 complies with the Class 2-profile defined by the ENCOM User group. The interface is encoder-integrated and includes a potential-free power supply. The Master (e.g. PLC-attachment assembly) is responsible for cyclic data transfer to RA 58. In each cycle two words are transferred from RA 58 to the Master. Out of these 32 bits, at most 24 bits are reserved for data. The remaining bits are "0". With connection type cable: • Connect the encoder to an external T-manifold. By this T-manifold the encoder is connected to the bus system and to the power supply. • If further devices follow in the same bus line, a bridge between RBST and GND signal output must be made, in the connecting plug for the continuing bus, on the external T-manifold. With connection type connector 2-fold: • Connect the incoming bus to the encoder input (IN) (see connection diagram). • If further devices follow in the same bus line: Connect continuing bus to the encoder output (OUT) (see connection diagram). A bridge between RBST and GND signal output must be made in the mating connector for the encoder output! Output